55 lines
2.9 KiB
Python
55 lines
2.9 KiB
Python
"""Owner-assigned drive slots, independent of USB addresses and motor commands."""
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import json
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LAYOUTS = {"1x1": ("left.1", "right.1"), "2x2": ("left.1", "left.2", "right.1", "right.2")}
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def slot_label(layout, slot):
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side = "Левый" if slot.startswith("left.") else "Правый"
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return side + ((" передний" if slot.endswith(".1") else " задний") if layout == "2x2" else "")
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class DriveProfile:
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def __init__(self, root, atomic):
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self.path, self.atomic = root / "drive-profile.json", atomic
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self.value = json.loads(self.path.read_text()) if self.path.exists() else {"layout": None, "revision": 0, "bindings": {}}
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def update(self, action, params, device):
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current = self.value
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if params["revision"] != current["revision"]:
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raise ValueError("Профиль привода изменился. Обновите карточку.")
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bindings = dict(current["bindings"])
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layout = current["layout"]
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if action == "vesc.drive.layout":
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layout = params["layout"]
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if set(bindings) - set(LAYOUTS[layout]):
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raise ValueError("Сначала снимите назначения задних моторов.")
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elif action == "vesc.drive.assign":
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layout, slot = params["layout"], params["slot"]
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if set(bindings) - set(LAYOUTS[layout]):
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raise ValueError("Сначала снимите назначения задних моторов.")
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if slot and slot in bindings and bindings[slot]["device_id"] != device.id:
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raise ValueError("Это место уже занято. Сначала снимите прежнее назначение.")
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bindings = {key: value for key, value in bindings.items() if value["device_id"] != device.id}
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if slot:
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bindings[slot] = {"device_id": device.id, "uuid": device.identity["uuid"]}
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else:
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bindings.pop(params["slot"], None)
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value = {"layout": layout, "revision": current["revision"] + 1, "bindings": bindings}
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self.atomic(self.path, value)
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self.value = value
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return value
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def validate(action, params):
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keys = {"revision", "layout"} if action == "vesc.drive.layout" else ({"revision", "layout", "slot"} if action == "vesc.drive.assign" else {"revision", "slot"})
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if set(params) != keys or type(params["revision"]) is not int or params["revision"] < 0:
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raise ValueError("Invalid drive profile revision")
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if action == "vesc.drive.layout":
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if params["layout"] not in LAYOUTS:
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raise ValueError("Invalid drive layout")
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elif action == "vesc.drive.assign":
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if params["layout"] not in LAYOUTS or params["slot"] not in ("", *LAYOUTS[params["layout"]]):
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raise ValueError("Invalid drive layout or slot")
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elif params["slot"] not in LAYOUTS["2x2"]:
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raise ValueError("Invalid drive slot")
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